you need to stifftie or you will break lose ties when moving. Seriously tho, look at the slim evo 2, I was able to get them to swarm in a circl by just changing a few values. It's very difficult to explain because I lack the patience to break down the entire genetic structure it uses, but it was built to be socialy aware, meaning it could adapt to have a universal conspec, and its movements are coordinated throughout the structure. Unfortunately, it likes to stick when tied to veggies, so its more of a spider then in hybernation. Its goal is to kill, collect veggies reproduce, and then send out scouts. I would say establish a set of goals for your bot and construct the genes that way. YOu have a nice start, but I would think about using one tout for movement purposes. I used stages to determine a unique behavior, and this was transmited throughout the entire multibot including vegies, otherwise trying to create unique behaviors are not alwyas used by the bot as it was best intended.